毕业设计（论）-六自由度机械手设计（全套图纸）.doc

六自由度机械手结构设计 摘 要 随着人类活动领域的进一步扩大，人们对非制造业用机械手的研究空前活跃起来，对机械手智能化和多样化的要求也越来越高，需要机械手具有对外感知能力以及局部的自己规划能力等。而通用机械手也在向机构灵巧、动作准确可靠、反应快、重量轻、刚度好、便于装卸与维修等方向快速发展。 此机械手采用全液压驱动方式，采用球坐标形式，自由度数为六，分别为Z方向的升降运动；绕Z方向的回转运动；手臂的仰俯运动；X方向的伸缩运动；手腕的仰俯运动；绕X方向的回转运动；主要完成手部结构、腕部结构、臂部结构和机身机构的设计，各部分缸体的结构位置的设计计算，各自由度运动的实现。具体结构设计中用了大量机构满足设计参数使结构设计尽量优化。With fields of human activity going further, the research on application of the manipulator in non-manufacturing sector has been rising largely. The requirements to manipulator of intelligent and diversification are increasingly higher and higher to meet people’s demand, which need manipulator with capability of external perception and local planning. And universal manipulator also has developed rapidly towards the direction of dexterous mechanism, accurate and reliable movements, rapid-reaction, light weight, high stiffness. And the universal manipulator can easy to load and unload and to be repaired easily . The number of freedom-degree manipulator which using the approach of hydraulic-driven, using spherical coordinates forms is six, which include Z direction of the movement, the rotary movement around Z direction, the swing movement of arms, X direction of the stretching exercise, swing movement of the wrist, the rotary movement around X direction. Structure of the hand, wrist, arm are caculated and designed. The checking for each part of the manipulator costs much time during process of specific structural design. In the condition of meeting the requirement of parameters, the structure is optimized as far as possible. 【Keywords】 Manipulator;Universal;Freedom-degree;Hydraulic 目 录 第1章 绪论 1 1.1 选题的背景和目的及意义 1 1.2 国内外研究状况和研究成果 1 1.3 课题的研究方法 2 1.4 本文研究内容 3 第2章 总体设计方案 4 2.1 总体设计要求 4 2.2 运动分析简介 4 2.2.1 机器人运动方程的表示 4 2.2.2 构件坐标系的确定 5 2.3 机械手的组成 6 2.4 设计路线与方案 6 2.4.1 设计步骤 6 2.4.2 研究方法和措施 7 2.5 本章小结 7 第3章 手部结构的设计和计算 8 3.1 手部设计 8 3.2钳爪式手指定位误差的分析 9 3.3手部夹紧油缸的设计 11 3.4油缸壁厚的计算 12 3.5 活塞杆的计算和校核 13 3.6 本章小结 13 第4章 腕部结构的设计和计算 14 4.1 腕部回转油缸的设计 14 4.2 腕部摆动油缸的设计